Self-moving device, obstacle crossing control method, medium, and program product

Abstract

A self-moving device, an obstacle crossing control method, a medium, and a program product. The self-moving device (10) comprises a body (110) and a locomotion mechanism arranged on the body (110). The method comprises: during the execution of a task by the self-moving device (10), searching for a first forward path and a first backward path on the basis of the position where the self-moving device (10) is located (S101); on the basis of the relative position between the first forward path and an obstacle recognition region, controlling the locomotion mechanism to lift relative to the body (110), so as to attempt to cross a real obstacle region corresponding to the obstacle recognition region (S102); and if it is determined on the basis of the relative position between the first backward path and / or the first forward path and the obstacle recognition region that the self-moving device (10) has crossed the real obstacle region, controlling the locomotion mechanism to lower relative to the body (110) (S103).

Description

Self-moving device and obstacle crossing control method, medium and program product

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to Chinese Patent Application No. 202410850900.9, filed on June 27, 2024 in China, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of robots, and in particular to a self-moving device and an obstacle crossing control method, a medium and a program product. BACKGROUND

[0004] A self-moving device is a robot capable of moving autonomously and performing work tasks, which brings a lot of convenience to people's life. For example, cleaning robots such as sweeping robots, mopping robots, and sweeping and mopping integrated robots in smart homes can move autonomously and replace people to complete some housework.

[0005] The self-moving device will encounter many obstacles in the working process. If the distance from the ground of the passageway, the threshold, and the step and other obstacles exceeds a certain threshold, the self-moving device will have difficulty crossing in the working process. The cleaning robot takes the ground cleaning coverage rate as the primary task, and when the threshold exceeds a certain height threshold, the cleaning robot will have difficulty crossing, so that a larger range cannot be cleaned. The related technology has the technical problems of low success rate of crossing obstacles and that crossing obstacles will affect the cleaning effect of the cleaning robot.

[0006] SUMMARY

[0007] Embodiments of the present disclosure provide a self-moving device and an obstacle crossing control method, a medium and a program product to at least partially solve the technical problems of low success rate of crossing obstacles and that crossing obstacles will affect the cleaning effect of the cleaning robot.

[0008] In a first aspect of the present disclosure, an obstacle crossing control method of a self-moving device is provided, the self-moving device comprising a body and a walking mechanism arranged on the body, the method comprising: searching for a first forward path and a first backward path according to a position where the self-moving device is located during execution of a task by the self-moving device; controlling the walking mechanism to be lifted relative to the body according to a relative position of the first forward path and an obstacle identification area, so that the self-moving device attempts to cross a real obstacle area corresponding to the obstacle identification area in a state where a head part of the self-moving device is raised; and controlling the walking mechanism to be lowered relative to the body if it is determined that the self-moving device has crossed the real obstacle area according to the relative position of the first backward path and / or the first forward path and the obstacle identification area.

[0009] In some embodiments of the first aspect, the walking mechanism includes a guide wheel arranged at a front portion of the body; the controlling the walking mechanism to lift relative to the body according to the relative position of the first forward path and the obstacle identification zone comprises: in response to a distance between a path end of the first forward path and a first side boundary of the obstacle identification zone decreasing to a first distance threshold, driving the guide wheel to start lifting relative to the body to elevate a nose portion of the body; and the controlling the walking mechanism to lower relative to the body comprises: driving the guide wheel to start lowering relative to the body to lower the nose portion of the body.

[0010] In some embodiments of the first aspect, the method further comprises: determining that the mobile device has crossed the real obstacle region if the first forward path crosses a second side boundary of the obstacle identification zone.

[0011] In some embodiments of the first aspect, the method further comprises: determining that the mobile device has crossed the real obstacle region if the first backward path passes through the first side boundary of the obstacle identification zone and a distance between a path end of the first backward path and the first side boundary decreases to a second distance threshold.

[0012] In some embodiments of the first aspect, the method further comprises: determining that the mobile device has crossed the real obstacle region if the first forward path crosses a second side boundary of the obstacle identification zone, the first backward path crosses the first side boundary of the obstacle identification zone, and a distance between a path end of the first backward path and the first side boundary decreases to a second distance threshold.

[0013] In some embodiments of the first aspect, after the controlling the walking mechanism to lift relative to the body according to the relative position of the first forward path and the obstacle identification zone, the method further comprises:

[0014] in response to the distance between the self-moving device and the first side boundary of the obstacle identification zone increasing to a third distance threshold, controlling the walking mechanism to lower relative to the body; wherein one of the target path nodes is outside the obstacle identification zone on a target side, the target side being the opposite side of the side where the self-moving device is located, and the other target path node is inside the obstacle identification zone.

[0015] In combination with the first aspect, in some embodiments, before controlling the walking mechanism to raise relative to the body according to the relative position between the first forward path and the obstacle identification zone, further comprising:

[0016] determining whether the self-moving device is in the direction of an upper step of the obstacle identification zone; if so, performing the step of controlling the walking mechanism to raise relative to the body according to the relative position between the first forward path and the obstacle identification zone.

[0017] In combination with the first aspect, in some embodiments, the walking mechanism further comprises a set of driving wheels arranged on the body; and the step of controlling the walking mechanism to raise relative to the body according to the relative position between the first forward path and the obstacle identification zone further comprises: in response to the distance between the path end of the first forward path and the first side boundary of the obstacle identification zone decreasing to the first distance threshold, driving the set of driving wheels to start raising relative to the body so as to raise the head portion; and the step of controlling the walking mechanism to lower relative to the body further comprises: driving the set of driving wheels to start lowering relative to the body so as to lower the head portion.

[0018] In combination with the first aspect, in some embodiments, further comprising: exploring a first position during the self-moving device performing a task; and if the first position is explored, controlling the walking mechanism to raise relative to the body to attempt to cross the first position.

[0019] In combination with the first aspect, in some embodiments, before controlling the walking mechanism to raise relative to the body, further comprising: obtaining a cumulative collision feature generated by the self-moving device moving along the first position; and in response to the cumulative collision feature satisfying a first preset condition, controlling the walking mechanism to raise relative to the body.

[0020] In combination with the first aspect, in some embodiments, exploring a first position during the self-moving device performing a task comprises: if a path that must be taken to enter a first closed area is explored, determining whether the size of the first closed area is greater than a first size threshold; and if the size of the first closed area is greater than the first size threshold, representing that the first position to enter the first closed area is explored.

[0021] With reference to the first aspect, in some embodiments, the method further comprises: obtaining a key boundary; searching for a path from an end of the second forward path of the self-moving device to a current location of the self-moving device with the key boundary as an obstacle; if the path from the end of the second forward path of the self-moving device to the current location of the self-moving device cannot be found, representing that the path is a necessary path for exploring into the first closed area, and the key boundary passes through the necessary path.

[0022] With reference to the first aspect, in some embodiments, the obtaining of the key boundary comprises: obtaining a connecting line between an end of the second forward path and a tail of the self-moving device to obtain a reference line segment; connecting a set of obstacles within a preset distance range of the self-moving device to obtain a line segment set; and obtaining a connecting line segment that meets an obstacle length, intersects with the reference line segment and is closest to the self-moving device from the line segment set as the key boundary.

[0023] With reference to the first aspect, in some embodiments, the judging whether the size of the first closed area is greater than a first size threshold comprises: scanning the first closed area to obtain a plurality of dimension features; weighting and calculating the plurality of dimension features to obtain a weighted score; and if the weighted score is greater than a preset score threshold, representing that the size of the first closed area is greater than the first size threshold.

[0024] With reference to the first aspect, in some embodiments, the collision accumulation feature comprises a cumulative collision number and a cumulative collision distance generated by the self-moving device along the first position, and the method further comprises: counting the cumulative collision number and the cumulative collision distance generated by the self-moving device along the first position; and if the counted cumulative collision number reaches a first number threshold and the counted cumulative collision distance reaches a collision distance threshold, representing that the collision accumulation feature meets a first preset condition.

[0025] With reference to the first aspect, in some embodiments, the method further comprises: in response to the self-moving device being trapped in a second closed area during execution of a task by the self-moving device, controlling the walking mechanism to be lifted relative to the body so that the self-moving device attempts to escape from the second closed area in a state in which a head portion of the self-moving device is raised; wherein the second closed area is an area with a size smaller than a second size threshold.

[0026] With reference to the first aspect, in some embodiments, the method further comprises: if the self-moving device is within a preset distance range within a preset time threshold and a collision accumulation feature generated by the self-moving device meets a second preset condition, determining that the self-moving device is trapped in the second closed area.

[0027] In a second aspect of the present disclosure, a self-moving device is provided, comprising: a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the obstacle-crossing control method of the self-moving device according to any of the embodiments of the first aspect.

[0028] In a third aspect of the present disclosure, a computer-readable storage medium is provided, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the obstacle-crossing control method of the self-moving device according to any of the embodiments of the first aspect.

[0029] In a fourth aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the obstacle-crossing control method of the self-moving device according to any of the embodiments of the first aspect.

[0030] The one or more technical solutions provided in the embodiments of the present disclosure have at least the following technical effects or advantages:

[0031] In the process of the self-moving device performing a task, the walking mechanism is lifted relative to the body according to the relative position of the first forward path of the position where the self-moving device is located and the obstacle identification area, so that the self-moving device attempts to cross the real obstacle area in a state of lifting the head part at a reasonable time point; and in the case where the self-moving device has crossed the real obstacle area according to the first forward path and / or the first backward path, the walking mechanism is lowered relative to the body, so that the self-moving device timely restores the head part after crossing the real obstacle area to continue performing cleaning work, so that the self-moving device such as a cleaning robot realizes lifting and lowering the walking mechanism relative to the body to cross the obstacle at a reasonable time point, so as to at least to a certain extent, improve the success rate of crossing the obstacle, and also can improve the cleaning effect of the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0033] FIG. 1A shows a structural schematic diagram of a self-moving device in some embodiments of the present disclosure;

[0034] FIG. 1B shows a bottom view of a self-moving device in some embodiments of the present disclosure;

[0035] FIG. 2 shows a flowchart of an obstacle-crossing control method of a self-moving device in some embodiments of the present disclosure;

[0036] FIG. 3 shows a schematic diagram of a pre-planned running route passing through an obstacle identification area in some embodiments of the present disclosure;

[0037] FIG. 4 shows a schematic diagram of a distance L1 between the path end of a first forward path and the first side boundary of an obstacle identification area being reduced to a first distance threshold in some embodiments of the present disclosure;

[0038] FIG. 5 shows a schematic diagram of a distance L2 between the path end of a first backward path and the first side boundary of an obstacle identification area being reduced to a second distance threshold, and the first forward path crossing the second side boundary of the obstacle identification area in some embodiments of the present disclosure;

[0039] FIG. 6A shows a schematic diagram of a state after lifting the walking mechanism relative to the body in some embodiments of the present disclosure;

[0040] FIG. 6B shows a schematic diagram of a state after lowering the walking mechanism relative to the body in some embodiments of the present disclosure;

[0041] FIG. 7A shows a schematic diagram of a one-way step in some embodiments of the present disclosure;

[0042] FIG. 7B shows a schematic diagram of a two-way step in some embodiments of the present disclosure;

[0043] FIG. 8 shows a schematic diagram of a process of constructing a map in some embodiments of the present disclosure;

[0044] FIG. 9 shows a schematic diagram of obtaining a key boundary in some embodiments of the present disclosure;

[0045] FIG. 10 shows a schematic diagram of a self-moving device trapped in a second enclosed area in some embodiments of the present disclosure

[0046] FIG. 11 shows a schematic diagram of a self-moving device in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0047] In order to better understand the above technical solutions, the technical solutions of the embodiments of the present disclosure will be described in detail below with the aid of the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present disclosure and the specific embodiments are detailed descriptions of the technical solutions of the embodiments of the present disclosure, and not limitations of the technical solutions of the present disclosure. In the case of no conflict, the technical features in the embodiments of the present disclosure and the specific embodiments can be combined with each other.

[0048] The obstacle crossing control method of the self-moving device provided by the embodiments of the present disclosure is capable of automatically moving and completing corresponding work, such as cleaning, cruising, etc., in a working scene by means of a certain artificial intelligence, and can also realize map construction, positioning, or object searching, etc. When the self-moving device is a cleaning robot, the working environment can be a room that needs to be cleaned by the cleaning robot; when the self-moving device is a cruising robot in a factory, the working environment can be a factory that needs to be cruised; when the self-moving device is a navigation robot, the working environment can be a public place, such as a park or a shopping mall, that needs to be navigated.

[0049] In some embodiments, the self-moving device can be a cleaning robot, such as a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot, etc. The cleaning robot is at a certain height from the ground when sweeping, and obstacles, such as doorsteps, steps, passages, etc., exceeding this height are difficult to cross.

[0050] As shown in FIG. 1A and FIG. 1B, FIG. 1A shows a structural schematic diagram of the self-moving device in some embodiments of the present disclosure, and FIG. 1B shows a bottom view of the self-moving device in some embodiments of the present disclosure. The self-moving device 10 includes a body 110, a perception component 120 arranged on the body 110, and a walking mechanism, wherein the walking mechanism includes a guiding component and a walking component.

[0051] In some embodiments, the walking component includes a first driving wheel 131, a motor (not shown) connected with the first driving wheel 131 and used for driving the first driving wheel 131, a steering engine (not shown) connected with the first driving wheel 131 and used for lifting the first driving wheel 131, a second driving wheel 132, a motor (not shown) connected with the second driving wheel 132 and used for driving the second driving wheel 132, and a steering engine (not shown) connected with the second driving wheel 132 and used for lifting the second driving wheel 132. It should be noted that the first driving wheel 131 and the second driving wheel 132 constitute a driving wheel set, the steering engine connected with the first driving wheel 131 is used for driving the first driving wheel 131 to lift relative to the body 110, so that the part close to the first driving wheel 131 of the body 110 can be lifted relative to the ground in the use posture of the self-moving device; and the steering engine connected with the second driving wheel 132 is used for driving the second driving wheel 132 to lift relative to the body 110, so that the part close to the second driving wheel 131 of the body 110 can be lifted relative to the ground in the use posture of the self-moving device.

[0052] In some embodiments, the body 110 forms a shell of the self-moving device 10 and accommodates other components.

[0053] In some embodiments, the body 110 can be in a flat cylindrical shape. The perception component 120 is configured to collect perception data of the mobile device 10 in the travel area, which includes data related to the mobile device 10 itself and data related to the surrounding environment objects during the travel of the mobile device 10, wherein the data related to the mobile device 10 itself includes, but is not limited to, the travel position, the travel speed, the travel mileage, etc. of the mobile device 10, and the data related to the surrounding environment objects includes, but is not limited to, the distance between the mobile device 10 and the wall, the step, the door bar, the electric wire, etc.

[0054] In some embodiments, the perception component 120 includes at least one of a camera, a three-axis accelerometer, a gyroscope, an odometer, an LDS (Laser Distance Sensor), an ultrasonic sensor, a cliff sensor, etc., wherein the LDS can be a single-line laser module, a double-line laser module, or a Tof (TOF Time of Flight) sensor module. In some embodiments of the present disclosure, the camera is configured to measure the travel position of the mobile device 10, the three-axis accelerometer is configured to obtain the acceleration and / or the tilt angle of the mobile device 10, the gyroscope is configured to obtain the angular velocity and / or the tilt angle of the mobile device 10, and the odometer is configured to obtain the travel mileage of the mobile device 10; the LDS is usually arranged at the top of the mobile device 10 and configured to measure the distance between the mobile device 10 and the environment objects by using laser; the ultrasonic sensor is usually arranged at the side of the mobile device 10 and configured to measure the distance between the mobile device 10 and the environment objects by using ultrasonic waves; and the cliff sensor is usually arranged at the bottom of the mobile device 10 and configured to measure the distance between the mobile device 10 and the environment objects by using infrared rays.

[0055] The number and the position of the perception component 120 are not limited in the embodiments of the present disclosure.

[0056] As shown in FIG. IB, the first driving wheel 131 and the second driving wheel 132 are arranged on one side of the body 110. In some embodiments, the first driving wheel 131 is arranged on the right side of the body 110, referred to as the right wheel, and the second driving wheel 132 is arranged on the left side of the body 110 in parallel with the first driving wheel 131, referred to as the left wheel. It can be understood that in other possible embodiments, the left wheel of the self-moving device 10 can be determined as the first driving wheel 131, and the right wheel can be determined as the second driving wheel 132, which is not limited in the embodiments of the present disclosure. A motor connected with the first driving wheel 131 is also arranged on the right side of the body 110 of the self-moving device 10. The driving circuit of the motor generates corresponding driving current to drive the motor to rotate according to the first control signal, so as to control the driving direction and the rotating speed of the first driving wheel 131. The first control signal corresponds to different duty cycles, and the duty cycle refers to the ratio of the power-on time of the pulse signal to the power-on period. The greater the duty cycle, the greater the rotating speed of the first driving wheel 131, and the smaller the duty cycle, the smaller the rotating speed of the first driving wheel 131. For example, the driving circuit of the motor connected with the first driving wheel 131 receives the first control signal corresponding to the duty cycle of 1 / 2, and generates corresponding driving current according to the first control signal. Under the action of the driving current, the motor connected with the first driving wheel 131 controls the driving direction of the first driving wheel 131 to be the forward direction, and the rotating speed is 50 revolutions per minute. A motor connected with the second driving wheel 132 is also arranged on the left side of the body 110 of the self-moving device 10. The driving circuit of the motor generates corresponding driving current to drive the motor to rotate according to the second control signal, so as to control the driving direction and the rotating speed of the second driving wheel 132. The second control signal corresponds to different duty cycles. For example, the driving circuit of the motor connected with the second driving wheel 132 receives the second control signal corresponding to the duty cycle of 1 / 2 sent by the control unit, and generates corresponding driving current according to the second control signal. Under the action of the driving current, the motor connected with the second driving wheel 132 controls the driving direction of the second driving wheel 132 to be the forward direction, and the rotating speed is 50 revolutions per minute.

[0057] In some embodiments, the guiding assembly of the self-moving device 10 includes a guiding wheel 141 arranged at the front of the body 110 and a steering engine connected with the guiding wheel 141. The guiding wheel 141 is used to change the direction of the self-moving device 10 during movement, and the steering engine connected with the guiding wheel 141 is used to drive the guiding wheel 141 to lift or lower the guiding wheel 141 relative to the body 110, so that the head part of the body 110 can be lifted or lowered relative to the ground in the use posture of the self-moving device.

[0058] In some embodiments, when the self-moving device 10 is a cleaning robot, a cleaning system is further included. The cleaning system includes a dry cleaning assembly and / or a wet cleaning assembly, wherein a main brush device 150 of the dry cleaning assembly is installed at the bottom of the body 110. In some embodiments, the main brush device 150 is a drum-shaped rotating brush that rotates relative to a contact surface in a roller type. The wet cleaning assembly includes a rotating disc 160, a motor connected to the rotating disc 160 for driving the rotating disc 160 to rotate, and a mopping member installed on the rotating disc 160.

[0059] It should be noted that the self-moving device 10 can further include other modules or assemblies, or only include some of the above modules or assemblies, and the present embodiment is not limited thereto, and the above self-moving device 10 is only taken as an example for description.

[0060] The obstacle-crossing control method of the self-moving device provided by the present embodiment is shown in FIG. 2, which is a flowchart of the obstacle-crossing control method of the self-moving device in some embodiments of the present disclosure, and includes the following steps S101-S103.

[0061] In step S101, during execution of a task by the self-moving device 10, a first forward path and a first backward path are searched according to a location of the self-moving device 10.

[0062] In some embodiments, the self-moving device 10 executes a task along a pre-planned running route, and searches the first forward path and the first backward path from the running route according to the location of the self-moving device 10 in real time (i.e., at a certain frequency) during execution of the task, wherein the task executed can be any one of a task of building a map, a cleaning task, a cruising task, etc.

[0063] As shown in FIG. 3, the first forward path is a continuous path closest to the self-moving device 10 in the pre-planned running route that the self-moving device 10 is going to track. In some embodiments, the first forward path can be a continuous path taken from the pre-planned running route in front of the location of the self-moving device 10 according to the size of the body 110. In some embodiments, the first forward path is a path taken from the pre-planned running route in front of the center position of the body 110 by a size of the body 110 or close to a size of the body 110, or a path taken from the pre-planned running route in front of the head position of the body 110 by half a size of the body 110 or close to half a size of the body 110.

[0064] As shown in FIG. 4, taking the center position of the body 110 in front of a size of the body 110 means that the distance L1 between the path end of the first forward path and the center position of the body 110 is a size of the body 110.

[0065] As shown in FIG. 3, the first backward path is a continuous forward path closest to the self-moving device 10 in the pre-planned running route, which has been tracked by the self-moving device 10. In some embodiments, the first backward path can be a continuous backward path from the position of the self-moving device 10 backward in the pre-planned running route according to the size of the body 110. In some embodiments, the first backward path is a path from the center position of the body 110 backward by one size of the body 110 or close to one size of the body 110, or a path from the tail position of the body 110 backward by half size of the body 110 or close to half size of the body 110.

[0066] As shown in FIG. 5, the path from the center position of the body 110 backward by one size of the body 110 means that the distance L2 between the path end of the first backward path and the center position of the body 110 is one size of the body 110.

[0067] It should be noted that close to one size of the body 110 means that the error between one size of the body 110 is within an allowable range, and close to half size of the body 110 has a similar meaning. As shown in FIG. 5, the size of the body 110 is the distance L3 between the nose and the tail, which can be measured by the size of the body 110 in the vertical direction in the orthographic projection of the self-moving device in the use posture on the ground. Here, the center position is the geometric center of the body 110. For example, when the body 110 is a flat cylindrical shape, the center position of the body 110 is the center of the circular cross section.

[0068] Step S102: controlling the walking mechanism to be lifted relative to the body 110 according to the relative position between the first forward path and the obstacle recognition area, so that the self-moving device 10 attempts to cross the real obstacle area corresponding to the obstacle recognition area in the state of being raised at the nose part.

[0069] In some embodiments, it is predicted whether the first forward path will pass through the high threshold recognition area. If it is predicted that the first forward path will pass through the obstacle recognition area, step S102 of controlling the walking mechanism to be lifted relative to the body 110 according to the relative position between the first forward path and the obstacle recognition area is triggered.

[0070] It can be understood that the obstacle recognition area is an area that is pre-identified as a real obstacle area and marked on the map. The real obstacle area can be a step, a passageway with a height, a threshold, and the like. The obstacle recognition area one-to-one corresponds to a step recognition area, a passageway recognition area, and a threshold recognition area.

[0071] In some embodiments, the real obstacle area corresponding to the obstacle identification zone in the obstacle identification zone crossing attempt state is identified in the state that the head part of the body 110 is raised, including: in the state that the head part of the body 110 is raised, straightly going towards the real obstacle area according to the position of the obstacle identification zone at a certain forward speed to attempt to directly rush through the real obstacle area corresponding to the obstacle identification zone.

[0072] In some embodiments, the walking mechanism includes a guide wheel 141 arranged at the front part of the body 110, and the lifting of the walking mechanism relative to the body 110 according to the relative position of the first forward path and the obstacle identification zone in step S102 includes: in response to the distance between the path end of the first forward path and the first side boundary of the obstacle identification zone being reduced to a first distance threshold, driving the guide wheel 141 to start lifting relative to the body 110 to raise the head part of the body 110, so that the body 110 is in a state that the head part is upwardly inclined.

[0073] In some embodiments, the first distance threshold is a value of 0 or a value close to 0.

[0074] As shown in FIG. 6A, in the use state of the self-moving device 10, the head part of the body 110 is raised, which can make the head part be upwardly inclined relative to the support surface (such as the ground) of the guide wheel 141, and is more conducive to directly rush through the real obstacle area corresponding to the obstacle identification zone on the map.

[0075] In other embodiments, the lifting of the walking mechanism relative to the body 110 according to the relative position of the first forward path and the obstacle identification zone in step S102 includes: in response to the first forward path intersecting with the first side boundary of the obstacle identification zone, driving the guide wheel 141 to start lifting relative to the body 110 to raise the head part of the body 110.

[0076] As shown in FIG. 4, taking the obstacle identification zone as a threshold identification zone as an example, there is a certain error between the boundary of the threshold identification zone and the boundary of the real threshold area, such as an error range L0 of 0-1 size of the body 110. When the distance between the first forward path and the first side boundary of the threshold identification zone is reduced to the first distance threshold, the guide wheel 141 is driven to start lifting relative to the body 110 to make the head part of the body 110 cross the real threshold area corresponding to the threshold identification zone after being raised. Through the above technical solution, the self-moving device 10 can start lifting the walking mechanism relative to the body 110 when there is still enough and reasonable rushing distance between the head of the body 110 and the boundary of the real threshold area, so as not to lift the walking mechanism too early or too late.

[0077] The time point of lifting the walking mechanism of the self-moving device 10 relative to the body 110 too early will affect the cleaning effect, such as the distance sensor calibration position changes after the walking mechanism is lifted, and the distance obstacle avoidance effect will decrease, therefore, it is necessary to try to keep the position not too far from the real obstacle area for lifting. The self-moving device 10 needs to keep a sufficient sprint distance from the real obstacle area to pass through more easily, and if the time point of lifting the walking mechanism relative to the body 110 is too late, it is not conducive to the self-moving device 10 passing through the obstacle with height. According to one or more embodiments of the above step S102, whether the self-moving device 10 is about to pass through the real obstacle area is determined according to the first forward path, and the walking mechanism relative to the body 110 starts to lift according to the relative position of the first forward path and the obstacle recognition area representing the real obstacle area, so that the walking mechanism relative to the body 110 can be lifted at a reasonable time point, without lifting too early to affect the cleaning effect of the self-moving device, and without lifting too late to lack of sprint distance, affecting the success rate of the self-moving device 10 directly passing through the real obstacle area.

[0078] In some embodiments, the self-moving device 10 further comprises a driven wheel set arranged on the body 110, and the driven wheel set comprises a first driven wheel 131 and a second driven wheel 132 arranged at intervals on one side of the body 110. The walking mechanism relative to the body 110 is lifted according to the relative position of the first forward path and the obstacle recognition area, comprising: in response to the distance between the path end of the first forward path and the first side boundary of the obstacle recognition area decreasing to a first distance threshold, the guide wheel 141 and the driven wheel set start to lift relative to the body 110, so that the head part of the body 110 is lifted.

[0079] After the walking mechanism of the self-moving device 10 has been lifted relative to the body 110, the walking mechanism also needs to be lowered relative to the body 110 at a reasonable time point, and lifting too early will affect the success rate of the self-moving device 10 directly passing through the real obstacle area, and lifting too late will affect the cleaning effect of the self-moving device, therefore, after step S102, step S103 is further executed: if it is determined according to the relative position of the first backward path and / or the first forward path and the obstacle recognition area that the self-moving device 10 has passed through the real obstacle area, the walking mechanism relative to the body 110 is controlled to be lowered.

[0080] In some embodiments, only whether the first forward path has passed through the second side boundary of the obstacle recognition area is determined, and if the first forward path has passed through the second side boundary of the obstacle recognition area, it is determined that the self-moving device 10 has passed through the real obstacle area. The first forward path has passed through the second side boundary means that the first forward path is completely outside the second side boundary, so that at least half of the body 110 has passed through the obstacle.

[0081] In some embodiments, it is determined that the mobile device 10 has crossed the real obstacle region when the first forward path has crossed the second side boundary of the obstacle recognition region, or when the first backward path has crossed the first side boundary of the obstacle recognition region and the distance between the path end of the first backward path and the first side boundary is less than or equal to the second distance threshold.

[0082] In some embodiments, it is determined that the mobile device 10 has crossed the real obstacle region when the first forward path has crossed the second side boundary of the obstacle recognition region, or when the first backward path has crossed the first side boundary of the obstacle recognition region and the distance between the path end of the first backward path and the first side boundary is less than or equal to the second distance threshold.

[0083] Condition one: the first forward path has crossed the second side boundary of the obstacle recognition region;

[0084] Condition two: the first backward path has crossed the first side boundary of the obstacle recognition region and the distance between the path end of the first backward path and the first side boundary is less than or equal to the second distance threshold.

[0085] In some embodiments, it is determined that the mobile device 10 has crossed the real obstacle region when the first forward path has crossed the second side boundary of the obstacle recognition region, or when the first backward path has crossed the first side boundary of the obstacle recognition region and the distance between the path end of the first backward path and the first side boundary is less than or equal to the second distance threshold.

[0086] It is to be noted that the second side boundary and the first side boundary are two opposite boundaries extending along the length direction of the obstacle recognition region. As shown in FIG. 4 and FIG. 5, the first side boundary refers to the side boundary b1 of the obstacle recognition region close to the position of the mobile device 10 before the mobile device 10 crosses the real obstacle region. The second side boundary refers to the side boundary b2 of the obstacle recognition region far away from the position of the mobile device 10 before the mobile device 10 crosses the real obstacle region.

[0087] In some embodiments, the second distance threshold is 0 or a value close to 0.

[0088] In some embodiments, when the walking mechanism includes the guide wheel 141 arranged at the front of the body 110, the step S103 of controlling the walking mechanism to lower relative to the body 110 includes: driving the guide wheel 141 to start lowering relative to the body 110, so as to lower the head part of the body 110.

[0089] As shown in FIG. 5, taking the case where the obstacle recognition area is the threshold recognition area as an example, the first rearward path passes through the first side boundary b1 of the threshold recognition area, and the distance between the first rearward path and the first side boundary b1 of the threshold recognition area decreases to a second distance threshold value, and the walking mechanism is driven to start lowering relative to the body 110. Through the above technical solution, the guide wheel 141 of the self-moving device 10 can be lowered at a reasonable time point after crossing the real threshold area.

[0090] In some embodiments, when the walking mechanism includes the guide wheel 141 arranged at the front of the body 110, the step S103 of controlling the walking mechanism to lower relative to the body 110 includes: driving the guide wheel 141 to start lowering relative to the body 110, so as to lower the head part of the body 110.

[0091] Taking the cleaning robot as an example, lowering the head part of the body 110 can make the cleaning robot return to the normal cleaning state. As shown in FIG. 6B, in the use posture of the self-moving device 10, lowering the head part of the body 110 can make the body 110 return to a state of being substantially parallel to the support surface (such as the ground) relative to the guide wheel 141 and the driving wheel set, and thus make the cleaning robot return to the normal cleaning state.

[0092] The maximum number of times of lifting and lowering of the guide wheel 141 and the driving wheel set is affected by the maximum mechanical life of the steering engine (a mechanical drive for controlling the lifting and lowering of the wheels). After the self-moving device 10 is lifted relative to the body 110, it is desired to lower the walking mechanism relative to the body 110 after successfully crossing the real obstacle area. However, in actual scenarios, the self-moving device 10 can adjust the position in the local position near the obstacle, as shown in FIG. 3, the moving direction of the self-moving device 10 can deviate from the pre-planned running route, or even deviate from the obstacle position. For example, the possible walking route of the self-moving device 10 is from the PosiblePos1 position to the PosiblePos2 position, and the self-moving device 10 does not successfully cross to the opposite side of the real obstacle area, and it is desired to keep the walking mechanism lifted relative to the body 110 during this period, and the self-moving device 10 continues to attempt to cross the obstacle at the real obstacle area within the number of attempts to cross the obstacle, so as to avoid frequent lifting and lowering of the walking mechanism relative to the body 110.

[0093] To avoid frequently lifting and lowering the walking mechanism relative to the body 110, in some embodiments, after controlling the walking mechanism to be lifted relative to the body 110 according to the relative position between the first forward path and the obstacle recognition area, further comprising: in the case that the first forward path does not reach the position between the two target path nodes, in response to the distance between the mobile device 10 and the first side boundary of the obstacle recognition area increasing to a third distance threshold, controlling the walking mechanism to be lowered relative to the body 110, thereby achieving that the mobile device 10 keeps the walking mechanism in the lifted state relative to the body 110 during the process of multiple attempts to cross the real obstacle area, before crossing the real obstacle area, and in the case that the real obstacle area is not successfully crossed, the walking mechanism is controlled to be lowered relative to the body 110 after the mobile device 10 moves away from the real obstacle area, avoiding the frequent lifting and lowering of the guide wheels 141 and / or the driving wheel set relative to the body 110 during the process of multiple attempts to cross the real obstacle area, reducing the use of the lifting and lowering of the wheels, so as to prolong the service life of the steering engine.

[0094] In some embodiments, one of the two target path nodes is on the target side of the obstacle recognition area, and the target side is the opposite side of the side where the mobile device 10 is located, and the other target path node is within the obstacle recognition area. Referring to FIG. 3, the node where the mobile device 10 is located is NodeCur, and there are forward nodes PreNode1, PreNode2, PreNode3, PreNode4, and the like in sequence from the location of the mobile device 10 forward on the continuous path to be tracked by the mobile device 10, and there are backward nodes BackNode1, BackNode2, and the like in sequence from the location of the mobile device 10 backward on the continuous path that has been tracked by the mobile device 10, and then the two target path nodes can be the forward nodes PreNode3 and PreNode4.

[0095] Since the real obstacle area has two types of one-way steps and two-way steps. As shown in FIG. 7A, the one-way step means that only one side to the other side is the up-step direction, and the reverse is the down-step direction. As shown in FIG. 7B, the two-way step means that from any side to the other side is the up-step direction. Therefore, in some embodiments, in order to reduce unnecessary lifting and lowering of the walking mechanism, before controlling the walking mechanism to be lifted relative to the body 110 according to the relative position between the first forward path and the obstacle recognition area, further comprising: judging whether the mobile device 10 is in the up-step direction of the obstacle recognition area; if so, performing the step of controlling the walking mechanism to be lifted relative to the body 110 according to the relative position between the first forward path and the obstacle recognition area; if the mobile device 10 is in the down-step direction of the obstacle recognition area, the walking mechanism does not need to be lifted relative to the body 110, thereby reducing unnecessary lifting and lowering of the walking mechanism.

[0096] In some embodiments, the task performed by the self-moving device 10 is to quickly build a map, and the quick map building is to start building a map at a random position, find the nearest unknown boundary in the map being built according to a pre-planned running route, and control the self-moving device 10 to go to the nearest unknown boundary of the map being built (the so-called unknown boundary refers to the junction of the explored obstacle-free position and the unknown position in the map being built), and the ranging sensor updates the information of the unknown boundary to the map being built; then continue to find the next nearest unknown boundary in the map being built, and repeat the above process until all unknown boundaries are explored, and then the quick map building is completed. As shown in FIG. 8, the control logic of the obstacle crossing control method of the self-moving device 10 provided by the embodiments of the present disclosure is described below by taking the quick map building as an example:

[0097] Start building a map, and enter step S1;

[0098] Step S1: Explore whether there is an unknown boundary in the map being built, if yes, enter step S2, and if no, the map building is completed;

[0099] Step S2: Search for a first forward path and a first backward path from the running route;

[0100] Step S3: Whether the first forward path passes through the obstacle identification area, if yes, enter step S4, and if no, enter step S8;

[0101] Step S4: Whether the self-moving device 10 is in the direction of the upper step of the obstacle identification area, if yes, enter steps S5-S6, and if no, enter step S8;

[0102] Step S5: In response to the relative position between the first forward path and the obstacle identification area being reduced to a first distance threshold, drive the guide wheel 141 to start lifting relative to the body 110, so that the nose part of the body 110 is raised, and then the self-moving device 10 continues to walk in the state that the nose part is raised, to attempt to cross the real obstacle area at least once;

[0103] Step S6: Determine whether the self-moving device 10 crosses the real obstacle area according to the relative position between the first backward path and / or the first forward path and the obstacle identification area, if yes, enter step S7;

[0104] Step S7: Drive the guide wheel 141 to start descending relative to the body 110, and then enter step S8;

[0105] Step S8: The self-moving device 10 goes to the nearest unknown boundary, and returns to step S1 to find the next nearest unknown boundary.

[0106] During the task execution of the self-moving device 10, there can be obstacles that are not identified, and it is difficult to predict whether the self-moving device 10 will pass through the real obstacle area through the first forward path. Therefore, in some embodiments, the obstacle-crossing control method of the self-moving device 10 provided by the present disclosure can further include: exploring the first position during the task execution of the self-moving device 10; and if the first position is explored, controlling the walking mechanism to be lifted relative to the body 110 to attempt to cross the first position.

[0107] Taking the task of building a map as an example, the unknown boundary is explored during the process of building a map by the self-moving device 10; and if the first position is explored during the process of exploring the unknown boundary, the walking mechanism is controlled to be lifted relative to the body 110. It should be noted that the first position refers to a position that must be passed through to enter a closed area with a large enough size, such as: it can be the only threshold to enter a certain room.

[0108] In some embodiments, exploring the first position includes: if a path to enter the first closed area is explored, determining whether the size of the first closed area is greater than a first size threshold; and if the size of the first closed area is greater than the first size threshold, it is represented that the first position to enter the first closed area is explored.

[0109] It should be noted that the real obstacle area is at a key position of the first closed area (such as: an independent and closed room), and is a path that must be passed through to enter the first closed area. When the real obstacle area is closed (such as: the door is closed), no path can be searched from the first closed area to the other side of the real obstacle area, which indicates that the path is a path that must be passed through to enter the first closed area.

[0110] As shown in FIG. 9, if the self-moving device 10 is about to enter room 2 from room 1, and the obstacle recognition area is blocked by an obstacle, there is no other path from room 1 to the other side of room 2, and then the path S is the path that must be passed through, and AB is the key boundary through which the path that must be passed through passes. If the key boundary AB is regarded as an obstacle, the path searched from the target point in room 2 to the point outside room 2 will fail.

[0111] In some embodiments, the key boundary is obtained, and in the case where the key boundary is regarded as an obstacle, a path from the end of the second forward path to the current position of the self-moving device 10 is searched; and if the path from the end of the second forward path to the position of the self-moving device 10 cannot be searched, it is represented that the path that must be passed through to enter the first closed area is explored, and the key boundary passes through the path that must be passed through.

[0112] It should be noted that the second forward path is a continuous path closest to the self-moving device 10 in the pre-planned running route to be tracked by the self-moving device 10, which can be one body 110 size or close to one body 110 size.

[0113] In some embodiments, the key boundary is obtained by: obtaining a line segment connecting a path end of the second forward path of the self-moving device 10 and a tail part of the self-moving device 10 to obtain a reference line segment; connecting the obstacle set within the preset distance range of the self-moving device 10 to obtain a line segment set; and obtaining a connection line segment from the line segment set that meets the length of the obstacle area (such as the length of the threshold), intersects the reference line segment, and is closest to the self-moving device 10 as the key boundary of the path to be passed.

[0114] As shown in FIG. 9, taking the real obstacle area as a real threshold area as an example, before the self-moving device 10 crosses the real threshold area, the tail part T of the body 110 of the self-moving device 10 is on one side of the real threshold area, the path end F of the second forward path is on the other side of the real threshold area, the line segment TF connecting T and F is referred to as a reference line segment TF, and all the obstacles within the preset distance range of the self-moving device 10 are selected; the obstacles are connected to obtain a line segment set XY, when a line segment xy belonging to the line segment set XY intersects the reference line segment TF, and the length of the line segment xy meets the length of the threshold (such as 80-100 cm), the condition is met. Among the line segments that meet the condition in the XY set, the line segment closest to the current position of the self-moving device 10 is the key boundary AB. For example, the line segment AC in FIG. 9 meets the threshold length but does not intersect the reference line segment TF, and therefore cannot be used as the key boundary of the path to be passed. When the key boundary AB is regarded as an obstacle, if a path from the position F to the position T cannot be searched, the key boundary AB passes through the path to be passed to reach the first closed area.

[0115] Since the self-moving device 10 is outside the first closed area, it is difficult to identify the complete form of the first closed area, and it is difficult to directly determine whether the size of the first closed area is greater than the first size threshold, therefore, in some embodiments, the first closed area is scanned to obtain a plurality of dimensional features, the plurality of dimensional features are weighted and calculated to obtain a weighted score, and if the weighted score is greater than a preset score threshold, it is indicated that the size of the first closed area is greater than the first size threshold, and it is determined that the first closed area is a larger closed area.

[0116] In some embodiments, the first closed area is scanned to obtain area features, length features, and width features of three dimensions, and the area features, the length features, and the width features are weighted and calculated to obtain a weighted score.

[0117] In some embodiments, a weight coefficient is configured for each dimension feature, such as: a for each square meter, b for each meter of length, and c for each meter of width, and the weighted score is equal to area*a+length*b+width*c. The weighted sum and calculation of multiple dimension features are used to determine whether the first closed area is a larger closed area, thereby improving the accuracy of the self-moving device 10 in determining the size of the first closed area. In some embodiments of the present disclosure, the weight coefficient configured for each dimension feature can be: 1 for each square meter, 1 for each meter of length, and 1 for each meter of width, and when the cumulative score exceeds 3, it indicates that the size of the first closed area is greater than the first size threshold.

[0118] In order to further reduce unnecessary lifting of the walking mechanism, after the first position entering the first closed area is explored, and before the walking mechanism is controlled to be lifted relative to the body, the method further comprises: obtaining a collision cumulative feature generated by the movement of the self-moving device 10 along the first position; and in response to the collision cumulative feature satisfying a first preset condition, controlling the walking mechanism to be lifted relative to the body 110.

[0119] It can be understood that the collision cumulative feature is a feature generated by the bumper sensor, which is a sensor that perceives the position of the front obstacle by extrusion collision. The collision cumulative feature can include the cumulative collision times and / or the cumulative collision distance generated by the movement of the self-moving device 10 along the first position.

[0120] In some embodiments, the self-moving device 10 will collide with the obstacle during movement along the obstacle, thereby obtaining a collision perception position generated by the movement along the first position, and clustering the collision perception position to obtain the cumulative collision times and / or the cumulative collision distance, wherein the cumulative collision distance is the length of the outline formed by clustering the collision perception position.

[0121] In some embodiments, if the collision cumulative feature includes the cumulative collision times and the cumulative collision distance generated by the movement of the self-moving device 10 along the first position, the cumulative collision times and the cumulative collision distance of the movement of the self-moving device 10 along the first position are counted; and if the counted cumulative collision times reach a first number threshold and the counted cumulative collision distance reaches a collision distance threshold, it indicates that the collision cumulative feature satisfies the first preset condition. In other embodiments, if the counted cumulative collision times reach the first number threshold or the counted cumulative collision distance reaches the collision distance threshold, it indicates that the collision cumulative feature satisfies the first preset condition.

[0122] It should be noted that the collision distance threshold is a threshold set according to the conventional length range of the obstacle, such as: the conventional length of the threshold is 70-100 cm, and the collision distance threshold can be set to 70 cm.

[0123] In some embodiments, since the acquired key boundary is located at the first position, the cumulative number of collisions and the cumulative collision distance within a preset distance of the key boundary can be counted.

[0124] In some embodiments, when the distance between the current position of the self-moving device 10 and the position at which the collision cumulative feature is generated exceeds a preset distance threshold, it is determined that the self-moving device 10 has crossed the first position and entered the first closed area, and the walking mechanism is controlled to be lowered relative to the body 110 to lower the head part, so that the body 110 can be restored to a state of being substantially parallel to the support surface (for example, the ground) of the guide wheels 141 and the driving wheel set, and the cleaning robot can be restored to a normal cleaning state.

[0125] In some embodiments, the obstacle crossing control method of the self-moving device 10 provided by the embodiments of the present disclosure further includes: detecting whether the self-moving device 10 is trapped in a second closed area during the execution of the task by the self-moving device 10; and in response to the self-moving device 10 being trapped in the second closed area, controlling the walking mechanism to be raised relative to the body 110 to enable the self-moving device 10 to attempt to escape from the second closed area in a state in which the head part is raised, wherein the second closed area is an area with a size smaller than a second size threshold.

[0126] In some embodiments, if the self-moving device 10 is within the preset distance range within a preset time threshold, and the collision cumulative feature generated by the self-moving device 10 within the preset time threshold satisfies a second preset condition, it is determined that the self-moving device 10 is trapped in a second closed area, and it is determined that the self-moving device 10 is trapped by a ground obstacle with a certain height, such as a fallen U-shaped, O-shaped, square-shaped chair, electrical appliance, etc.

[0127] In some embodiments, the collision cumulative feature generated within the preset time threshold includes a collision cumulative number and a collision trajectory, as shown in FIG. 10. When the collision cumulative number generated within the preset time threshold reaches a second number threshold and the collision trajectory is distributed around the self-moving device 10, it is determined that the collision cumulative feature generated within the preset time threshold satisfies the second preset condition.

[0128] In some embodiments, the collision sensing positions generated within the preset time threshold are clustered to obtain the collision cumulative number and the collision trajectory within the preset time threshold.

[0129] Based on the same inventive concept, the embodiments of the present disclosure further provide a self-moving device, as shown in FIG. 11, which is a structural schematic diagram of a self-moving device provided by some embodiments of the present disclosure, and the self-moving device comprises: a processor 1102; a memory 1104 for storing instructions executable by the processor 1102, wherein the processor 1102 is configured to execute the instructions to implement the obstacle crossing control method of the self-moving device described in any of the above embodiments.

[0130] In FIG. 11, a bus architecture (represented by a bus 1100) can include any number of interconnecting buses and bridges, the bus 1100 linking together various circuits such as one or more processors represented by the processor 1102, and the memory represented by the memory 1104. The bus 1100 can also link together various other circuits including peripheral devices, voltage stabilizers, and power management circuits, which are all well known in the art, thus, not further described herein. A bus interface 1105 provides an interface between the bus 1100 and a receiver 1101 and a transmitter 1103. The receiver 1101 and the transmitter 1103 can be the same element, i.e., a transceiver, providing a means for communicating with various other apparatuses over a transmission medium. The processor 1102 is responsible for managing the bus 1100 and general processing, while the memory 1104 can be used for storing data used by the processor 1102 in executing operations.

[0131] Based on the same inventive concept, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the obstacle crossing control method of the self-moving device described in any of the above embodiments.

[0132] Based on the same inventive concept, the present disclosure provides a computer program product comprising a computer program, the computer program being executed by a processor to implement the obstacle crossing control method of the self-moving device described in any of the above embodiments.

[0133] Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as methods, systems, or computer program products. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer usable program code.

[0134] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0135] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0137] While the preferred embodiments of the present disclosure have been described, additional variations and modifications can be made to the preferred embodiments by those of skill in the art once they have the benefit of the present disclosure without departing from the spirit and scope of the present disclosure. Accordingly, the appended claims are intended to encompass within their scope all such variations and modifications as falling within the scope of the present disclosure. It should be understood that all references to the method of the present disclosure can include "treating" a metabolic disorder or a disease or disorder associated with a metabolic disorder, as well as "preventing" or "preventing the occurrence of" a metabolic disorder or a disease or disorder associated with a metabolic disorder.

[0138] Obviously, numerous modifications and variations of the present disclosure are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the present disclosure can be practiced otherwise than as specifically described.

Claims

1. A method for controlling obstacle crossing of a self-moving device, characterized in that, The self-moving device includes a body and a walking mechanism disposed on the body, and the method includes: During the execution of the task by the self-moving device, a first forward path and a first backward path are searched based on the location of the self-moving device; The walking mechanism is controlled to rise relative to the body based on the relative position of the first forward path and the obstacle recognition area, so that the self-moving device attempts to cross the real obstacle area corresponding to the obstacle recognition area while the head of the device is raised. If it is determined that the self-moving device has passed the real obstacle area based on the relative position of the first backward path and / or the first forward path with the obstacle recognition area, the walking mechanism is controlled to descend relative to the body.

2. The obstacle crossing control method for a self-moving device as described in claim 1, characterized in that, The walking mechanism includes guide wheels located at the front of the machine body; The step of controlling the walking mechanism to lift relative to the body based on the relative position of the first forward path and the obstacle recognition area includes: in response to the distance between the end of the first forward path and the first side boundary of the obstacle recognition area decreasing to a first distance threshold, driving the guide wheel to start lifting relative to the body so as to raise the head portion of the body; The control of the walking mechanism to descend relative to the machine body includes: driving the guide wheel to begin descending relative to the machine body, so as to lower the head portion of the machine body.

3. The obstacle crossing control method for a self-moving device as described in claim 2, characterized in that, The step of determining that the self-moving device has crossed the real obstacle area based on the relative position of the first backward path and / or the first forward path with the obstacle recognition area includes: If the first forward path has crossed the second side boundary of the obstacle recognition area, it is determined that the self-moving device has crossed the real obstacle area; or If the first backward path passes through the first side boundary of the obstacle recognition area and the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold, it is determined that the self-moving device has crossed the real obstacle area.

4. The obstacle crossing control method for a self-moving device as described in claim 2, characterized in that, Determining whether the self-moving device has crossed the real obstacle area based on the relative position of the first backward path and / or the first forward path with the obstacle recognition area includes: The self-moving device is determined to have crossed the real obstacle area if any of the following conditions are met first: The first forward path has crossed the second side boundary of the obstacle recognition area; or The first backward path passes through the first side boundary of the obstacle recognition area, and the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold.

5. The obstacle crossing control method for a self-moving device as described in any one of claims 1-4, characterized in that, After controlling the walking mechanism to lift relative to the body based on the relative position of the first forward path and the obstacle recognition area, the method further includes: If the first forward path does not reach the position between the two target path nodes, in response to the distance between the self-moving device and the first side boundary of the obstacle recognition area increasing to a third distance threshold, the walking mechanism is controlled to descend relative to the body. One of the target path nodes is located on the target side outside the obstacle recognition area, which is the opposite side of the side where the self-moving device is located, and the other target path node is located within the obstacle recognition area.

6. The obstacle crossing control method for a self-moving device as described in any one of claims 1-5, characterized in that, The step of controlling the lifting of the walking mechanism relative to the body based on the relative position of the first forward path and the obstacle recognition area includes: If the self-moving device is in the direction of the step in the obstacle recognition area, the walking mechanism is controlled to lift relative to the body according to the relative position of the first forward path and the obstacle recognition area.

7. The obstacle crossing control method for a self-moving device as described in any one of claims 2-4, characterized in that, The walking mechanism also includes a set of drive wheels disposed on the body; The step of controlling the walking mechanism to lift relative to the body based on the relative position of the first forward path and the obstacle recognition area further includes: in response to the distance between the end of the first forward path and the first side boundary of the obstacle recognition area decreasing to the first distance threshold, driving the active wheel set to start lifting relative to the body so as to raise the head section; The method of controlling the walking mechanism to descend relative to the machine body further includes: driving the drive wheel assembly to begin descending relative to the machine body, so as to lower the head section.

8. The obstacle crossing control method for a self-moving device as described in any one of claims 1-7, characterized in that, Also includes: Explore the first location during the execution of the task by the self-moving device; If the first position is reached, the walking mechanism is controlled to lift relative to the body in an attempt to cross the first position.

9. The obstacle crossing control method for a self-moving device as described in claim 8, characterized in that, The control of the walking mechanism relative to the machine body includes: Acquire the cumulative collision features generated by the self-moving device moving along the first position; In response to the collision accumulation feature satisfying a first preset condition, the walking mechanism is controlled to lift relative to the body.

10. The obstacle crossing control method for a self-moving device as described in claim 8 or 9, characterized in that, Exploring a first location during the execution of a task by the self-moving device includes: If a necessary path to the first closed area is found, and the size of the first closed area is greater than a first size threshold, then the first location to enter the first closed area is determined.

11. The obstacle crossing control method for a self-moving device as described in claim 10, characterized in that, Also includes: Obtain the critical boundary; With the critical boundary as an obstacle, search for the path from the end of the second forward path of the self-moving device to the current location of the self-moving device. If no path can be found from the end of the second forward path to the current location of the self-moving device, it is determined that a necessary path to enter the first closed area has been explored, and the critical boundary passes through the necessary path.

12. The obstacle crossing control method for a self-moving device as described in claim 11, characterized in that, The acquisition of key boundaries includes: Obtain the line connecting the end of the second forward path and the tail of the self-moving device to obtain a reference line segment; Connect the set of obstacles within a preset distance range of the self-moving device to obtain a set of line segments; The critical boundary is selected from the set of line segments that matches the length of the obstacle, intersects with the reference line segment, and is closest to the self-moving device.

13. The obstacle crossing control method for a self-moving device as described in any one of claims 10-12, characterized in that, Determining that the size of the first enclosed region is greater than a first size threshold includes: The first closed region is scanned to obtain features in multiple dimensions; The multiple dimensional features are weighted and summed to obtain a weighted score; If the weighted score is greater than a preset score threshold, the size of the first closed region is determined to be greater than the first size threshold.

14. The obstacle crossing control method for a self-moving device as described in any one of claims 9-13, characterized in that, The collision accumulation feature includes the cumulative number of collisions and the cumulative collision distance generated by the self-moving device moving along the first position, and the method further includes: Calculate the cumulative number of collisions and the cumulative collision distance generated by the self-moving device moving along the first position; If the cumulative number of collisions reaches the first threshold and the cumulative collision distance reaches the collision distance threshold, the cumulative collision feature is determined to satisfy the first preset condition.

15. The obstacle crossing control method for a self-moving device as described in any one of claims 1-14, characterized in that, Also includes: During the execution of a task by the self-moving device, in response to the self-moving device being trapped in the second enclosed area, the walking mechanism is controlled to be raised relative to the body so that the self-moving device attempts to leave the second enclosed area with the head section raised. The second enclosed region is a region whose size is smaller than the second size threshold.

16. The obstacle crossing control method for a self-moving device as described in claim 15, characterized in that, Also includes: If the self-moving device is within a preset distance range within a preset time threshold, and the cumulative collision characteristics generated by the self-moving device meet the second preset condition, it is determined that the self-moving device is trapped in the second enclosed area.

17. A self-moving device, characterized in that, include: processor; A memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the obstacle crossing control method for a self-moving device as described in any one of claims 1-16.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the obstacle crossing control method for the self-moving device as described in any one of claims 1-16.

19. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the obstacle crossing control method for the self-moving device as described in any one of claims 1-16.

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